private void processKick(ButtonState state) { if (activeSecondaryControlOption != SecondaryControlOption.KICK) return; if (isInDoubleSupport.getValue()) return; RobotSide kickSide = isRightFootInSupport.get() ? RobotSide.LEFT : RobotSide.RIGHT; if (state == ButtonState.PRESSED) kick(kickSide); else if (state == ButtonState.RELEASED) flamingoHomeStance(kickSide); }
private void processToggleFlamingoMode(RobotSide robotSide, ButtonState state) { if (activeSecondaryControlOption != SecondaryControlOption.KICK) return; if (state != ButtonState.PRESSED) return; if (isInDoubleSupport.getValue()) flamingoHomeStance(robotSide); else if (!isFootInSupport.get(robotSide).get()) putFootDown(robotSide); }